JP6243931B2 - 車両の走行制御装置 - Google Patents
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- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/06—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
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- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/14—Adaptive cruise control
- B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
- B60W30/165—Automatically following the path of a preceding lead vehicle, e.g. "electronic tow-bar"
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- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
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- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
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- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/10—Path keeping
- B60W30/12—Lane keeping
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0001—Details of the control system
- B60W2050/0043—Signal treatments, identification of variables or parameters, parameter estimation or state estimation
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2556/00—Input parameters relating to data
- B60W2556/10—Historical data
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2556/00—Input parameters relating to data
- B60W2556/45—External transmission of data to or from the vehicle
- B60W2556/50—External transmission of data to or from the vehicle for navigation systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/06—Combustion engines, Gas turbines
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/10—Change speed gearings
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/18—Braking system
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/20—Steering systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/20—Steering systems
- B60W2710/202—Steering torque
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2754/00—Output or target parameters relating to objects
- B60W2754/10—Spatial relation or speed relative to objects
Description
本発明の他の態様による車両の走行制御装置は、自車両前方の先行車両に追従して走行する追従走行を制御する車両の走行制御装置であって、前記先行車両の車線内の横位置を算出し、前記先行車両が車線中央の設定範囲を外れて偏走しているか否かを判断する先行車両偏走判断部と、前記先行車両が偏走していないと判断された場合、前記先行車両の車幅方向の設定位置を前記追従走行の制御目標点として設定し、前記先行車両が偏走していると判断された場合には、前記先行車両の車幅方向の設定位置から前記先行車両が前記設定範囲を外れた方向とは逆方向に所定のシフト量だけシフトさせた位置を、前記制御目標点として設定する制御目標点設定部とを備え、前記制御目標点設定部は、前記先行車両の車幅が自車両の車幅以上である場合、前記先行車両偏走判断部の判断結果に拘わらず、前記先行車両の車幅方向の設定位置を前記制御目標点として設定する。
Δx=V・Δt・sinθ …(1)
Δz=V・Δt・cosθ …(2)
Xpre=(Xold-Δx)・cosθ−(Zold-Δz)・sinθ …(3)
Zpre=(Xold-Δx)・sinθ+(Zold-Δz)・cosθ …(4)
P=K1・Z2+K2・Z+K3 …(5)
αref=Gl・δx+Gff・K1+Gy・δyaw …(6)
但し、Gl :現在の操舵角で進行したときの自車両位置と制御目標点との偏差に対するフィードバックゲイン
Gff:走行軌跡の曲率に対するフィードフォワードゲイン
Gy :走行軌跡と自車両との相対ヨー角に対するフィードバックゲイン
2 画像認識装置
10 走行制御システム
20 外部環境認識装置
30 地図情報処理装置
40 エンジン制御装置
50 変速機制御装置
60 ブレーキ制御装置
70 操舵制御装置
100 走行制御装置
101 制御部
102 先行車両偏走判断部
103 車幅比較部
104 制御目標点設定部
150 通信バス
C1 自車両
C2 先行車両
W1,W2 車幅
λ シフト量
Claims (6)
- 自車両前方の先行車両に追従して走行する追従走行を制御する車両の走行制御装置であって、
前記先行車両の車線内の横位置を算出し、前記先行車両が車線中央の設定範囲を外れて偏走しているか否かを判断する先行車両偏走判断部と、
前記先行車両が偏走していないと判断された場合、前記先行車両の車幅方向の設定位置を前記追従走行の制御目標点として設定し、前記先行車両が偏走していると判断された場合には、前記先行車両の車幅方向の設定位置から前記先行車両が前記設定範囲を外れた方向とは逆方向に所定のシフト量だけシフトさせた位置を、前記制御目標点として設定する制御目標点設定部と
を備え、
前記制御目標点設定部は、前記シフト量を、前記先行車両の車幅と自車両の車幅との差に基づいて設定する
ことを特徴とする車両の走行制御装置。 - 自車両前方の先行車両に追従して走行する追従走行を制御する車両の走行制御装置であって、
前記先行車両の車線内の横位置を算出し、前記先行車両が車線中央の設定範囲を外れて偏走しているか否かを判断する先行車両偏走判断部と、
前記先行車両が偏走していないと判断された場合、前記先行車両の車幅方向の設定位置を前記追従走行の制御目標点として設定し、前記先行車両が偏走していると判断された場合には、前記先行車両の車幅方向の設定位置から前記先行車両が前記設定範囲を外れた方向とは逆方向に所定のシフト量だけシフトさせた位置を、前記制御目標点として設定する制御目標点設定部と
を備え、
前記制御目標点設定部は、前記先行車両の車幅が自車両の車幅以上である場合、前記先行車両偏走判断部の判断結果に拘わらず、前記先行車両の車幅方向の設定位置を前記制御目標点として設定する
ことを特徴とする車両の走行制御装置。 - 前記制御目標点設定部は、前記シフト量を、前記先行車両の車幅と自車両の車幅との差に基づいて設定することを特徴とする請求項2記載の車両の走行制御装置。
- 前記制御目標点設定部は、前記シフト量を、前記先行車両の車線内の横位置の車線中央からのずれ量に基づいて設定することを特徴とする請求項2記載の車両の走行制御装置。
- 前記先行車両への追従走行中に車線の片側を認識不能となった場合、認識不能となる直前の車線幅から前記先行車両の横位置を推定することを特徴とする請求項1又は2記載の車両の走行制御装置。
- 前記先行車両への追従走行中に車線を認識不能となった場合、前記先行車両及び自車両が走行する道路の地図情報に基づいて、前記先行車両の車線内の横位置を推定することを特徴とする請求項1又は2記載の車両の走行制御装置。
Priority Applications (4)
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JP2016002644A JP6243931B2 (ja) | 2016-01-08 | 2016-01-08 | 車両の走行制御装置 |
CN201611050640.9A CN107010043B (zh) | 2016-01-08 | 2016-11-23 | 车辆的行驶控制装置 |
US15/383,340 US10369997B2 (en) | 2016-01-08 | 2016-12-19 | Vehicle traveling control apparatus |
DE102016124771.5A DE102016124771A1 (de) | 2016-01-08 | 2016-12-19 | Fahrzeugfahrtsteuerungseinrichtung |
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JP2016002644A JP6243931B2 (ja) | 2016-01-08 | 2016-01-08 | 車両の走行制御装置 |
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JP6243931B2 true JP6243931B2 (ja) | 2017-12-06 |
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JP (1) | JP6243931B2 (ja) |
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JP6302519B2 (ja) * | 2016-09-06 | 2018-03-28 | 株式会社Subaru | 車両の運転支援装置 |
EP3517381B1 (en) * | 2016-09-26 | 2020-07-15 | Nissan Motor Co., Ltd. | Route setting method and route setting device |
CN108664016B (zh) * | 2017-03-31 | 2020-09-15 | 腾讯科技(深圳)有限公司 | 确定车道中心线的方法及装置 |
JP6539297B2 (ja) * | 2017-03-31 | 2019-07-03 | 株式会社Subaru | 車両の走行支援装置 |
JP6772944B2 (ja) * | 2017-04-19 | 2020-10-21 | トヨタ自動車株式会社 | 自動運転システム |
US11100729B2 (en) * | 2017-08-08 | 2021-08-24 | Panasonic Intellectual Property Corporation Of America | Information processing method, information processing system, and program |
JP6627153B2 (ja) * | 2017-09-11 | 2020-01-08 | 本田技研工業株式会社 | 車両制御装置、車両制御方法、およびプログラム |
JP6795792B2 (ja) | 2017-09-28 | 2020-12-02 | トヨタ自動車株式会社 | 運転支援装置 |
CN109693584B (zh) * | 2017-10-23 | 2020-11-13 | 华庚新材料科技(嘉兴)有限公司 | 一种无轨智能电车前进轨迹偏差判断与矫正方法 |
JP7006146B2 (ja) * | 2017-11-06 | 2022-02-10 | いすゞ自動車株式会社 | 操舵制御装置及び操舵制御方法 |
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JP6629897B2 (ja) * | 2018-02-26 | 2020-01-15 | 本田技研工業株式会社 | 車両制御装置 |
JP6725568B2 (ja) * | 2018-03-13 | 2020-07-22 | 本田技研工業株式会社 | 車両制御装置、車両、車両制御方法およびプログラム |
JP7098996B2 (ja) * | 2018-03-26 | 2022-07-12 | 株式会社デンソー | 走行位置決定装置 |
KR102553247B1 (ko) * | 2018-04-27 | 2023-07-07 | 주식회사 에이치엘클레무브 | 전방 차량 추종 제어 시 안전성을 향상할 수 있는 차선 유지 보조 시스템 및 방법 |
JP2019217846A (ja) * | 2018-06-18 | 2019-12-26 | 本田技研工業株式会社 | 車両制御装置、車両制御方法およびプログラム |
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JP2021142906A (ja) * | 2020-03-12 | 2021-09-24 | 本田技研工業株式会社 | 車両追従走行システム、車両制御装置、車両、および制御方法 |
JP7338551B2 (ja) * | 2020-05-15 | 2023-09-05 | いすゞ自動車株式会社 | 操舵量決定装置 |
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